/**
 * @FilePath: \ros2\src\agv_control\chassis_controller\include\chassis_controller\hardware_config.h
 * @Date: 2025-03-08 16:22:40
 * @Description:  
 * @Author: haibo
 * @Version: 1.0.0
 * @LastEditors: haibo haibo.yang@lgmgim.cn
 * @LastEditTime: 2025-03-20 17:34:35
 * @Copyright (c) 2025 by 临工智能信息科技有限公司, All Rights Reserved. 
**/

#pragma once
#include <hardware_interface/loaned_state_interface.hpp>
#include <hardware_interface/loaned_command_interface.hpp>

struct GenericHandle {
	std::vector<std::reference_wrapper<const hardware_interface::LoanedStateInterface>> joint_state_interfaces;
	std::vector<std::reference_wrapper<hardware_interface::LoanedCommandInterface>> joint_command_interfaces;
	GenericHandle() = default;
	void clear() {
        joint_state_interfaces.clear();
        joint_command_interfaces.clear();
    }
};
